﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using RosSharp.RosBridgeClient;
using RosSharp.RosBridgeClient.MessageTypes.Std;
using RosSharp.RosBridgeClient.MessageTypes.Trajectory;

namespace BoardController.Models
{
    public class JointTrajectory : Message
    {
        public const string RosMessageName = "trajectory_msgs/JointTrajectory";

        public Header header { get; set; }
        public string[] name{ get; set; }
        public double[] positions { get; set; }

        public double[] velocities { get; set; }

        public double[] effort { get; set; }

        public JointTrajectory()
        {
            this.header = new Header();
            this.name = new string[0];
            this.positions = new double[0];
            this.velocities = new double[0];
            this.effort = new double[0];
        }

        public JointTrajectory(Header header, string[] name, double[] positions, double[] velocities, double[] effort)
        {
            this.header = header;
            this.name = name;
            this.positions = positions;
            this.velocities = velocities;
            this.effort = effort;
        }
    }
}

